FIGURE-GROUND ORGANIZATION OF 3-D SCENES

摘要

Systems and methods for processing a pair of 2-D images are described. In one example, a stereoscopic set of images is converted into a collection of regions that represent individual 3-D objects in the pair of images. In one embodiment, the system recovers the 3-D point P for each point p that appears in both images. It estimates the 3-D orientation of the floor plane, and the image capture planes and their height from the floor. The system then identifies the collection B of points P that do not represent points on the floor and generates a projection C of B onto a plane parallel to the floor. It blurs the projection C and identifies peaks in the blurred image, then fits symmetric figures to the points in C around the identified peaks. The system projects the 3-D figures associated with the symmetric figures back onto the 2-D images.

主权项

1. A method for locating objects in a three-dimensional scene that includes a floor, the method comprising:
capturing two images of the scene substantially simultaneously; computing a depth map of visible texture points; estimating the position and orientation of the camera; computing a top view of the points in the depth map; identifying the position of one or more objects in the top view; and generating a signal that characterizes the position of the one or more objects.